This study is about using special tools called "Force Feedback instruments" during a type of heart surgery called "mitral valve repair." The surgery is done with a robot called the da Vinci Surgical System, Model IS5000. This study checks if these tools are safe and work well. Mitral regurgitation (MR) is when the heart valve doesn't close properly, causing blood to leak backward. The study is for people aged 22 or older with certain heart conditions and who can have robotic surgery. Some people cannot join, like those with serious health issues, other heart conditions, or those who had similar surgeries before. Participants will need to agree to follow-up visits and must be able to give informed consent.

• The study involves robotic-assisted surgery for heart valve repair.
• Participants must meet specific health criteria and be willing to attend follow-up visits.
• Some people with serious health issues or previous surgeries may not qualify.